Integral Sliding Mode and Second Order Sliding Mode Attitude and Altitude Tracking of a Quadrotor System: Theory and Experiment

摘要

In this paper Attitude and Altitude tracking control design of the four rotors helicopter will be considered. Two robust control algorithms will be designed for the case of stabilization and tacking of attitude and altitude system's outputs. The attitude controller is realized using an inertial measurement unit (IMU) based on MEMS sensors. The altitude control algorithm uses a sonar sensor output. The control algorithms designed are implemented on an embedded control system based on a dsPIC μC. The obtained experimental results demonstrate high performance of both controllers and robustness against disturbances.